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the code do not process child_frame_id transform. look below: tf2_geometry_msgs/tf2_geometry_msgs.h
template <> inline void doTransform(const geometry_msgs::TransformStamped& t_in, geometry_msgs::TransformStamped& t_out, const geometry_msgs::TransformStamped& transform) { tf2::Transform input; fromMsg(t_in.transform, input); tf2::Transform t; fromMsg(transform.transform, t); tf2::Transform v_out = t * input; t_out.transform = toMsg(v_out); t_out.header.stamp = transform.header.stamp; t_out.header.frame_id = transform.header.frame_id; }
The text was updated successfully, but these errors were encountered:
That does look like it's missing the logic to transfer the child_frame_id if t_in and t_out aren't the same.
child_frame_id
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ros#541 [BUG] child_frame_id not processed
e3f1c0b
I was reviewing the PR #555 proposed to resolve this and I think this behavior is actually correct. See my logic there.
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the code do not process child_frame_id transform. look below:
tf2_geometry_msgs/tf2_geometry_msgs.h
The text was updated successfully, but these errors were encountered: